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esf.h
/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2010-2012, Willow Garage, Inc.
* Copyright (c) 2012-, Open Perception, Inc.
*
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the copyright holder(s) nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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*
* $Id: pfh.hpp 5027 2012-03-12 03:10:45Z rusu $
*
*/
#pragma once
#include <pcl/features/feature.h>
#define GRIDSIZE 64
#define GRIDSIZE_H (GRIDSIZE/2)
#include <vector>
namespace pcl
{
/** \brief @b ESFEstimation estimates the ensemble of shape functions descriptors for a given point cloud
* dataset containing points. Shape functions are D2, D3, A3. For more information about the ESF descriptor, see:
* Walter Wohlkinger and Markus Vincze, "Ensemble of Shape Functions for 3D Object Classification",
* IEEE International Conference on Robotics and Biomimetics (IEEE-ROBIO), 2011
* \author Walter Wohlkinger
* \ingroup features
*/
template <typename PointInT, typename PointOutT = pcl::ESFSignature640>
class ESFEstimation: public Feature<PointInT, PointOutT>
{
public:
using Ptr = shared_ptr<ESFEstimation<PointInT, PointOutT> >;
using ConstPtr = shared_ptr<const ESFEstimation<PointInT, PointOutT> >;
using Feature<PointInT, PointOutT>::feature_name_;
using Feature<PointInT, PointOutT>::getClassName;
using Feature<PointInT, PointOutT>::indices_;
using Feature<PointInT, PointOutT>::k_;
using Feature<PointInT, PointOutT>::search_radius_;
using Feature<PointInT, PointOutT>::input_;
using Feature<PointInT, PointOutT>::surface_;
using PointCloudIn = pcl::PointCloud<PointInT>;
using PointCloudOut = typename Feature<PointInT, PointOutT>::PointCloudOut;
/** \brief Empty constructor. */
ESFEstimation () : local_cloud_ ()
{
feature_name_ = "ESFEstimation";
lut_.resize (GRIDSIZE);
for (int i = 0; i < GRIDSIZE; ++i)
{
lut_[i].resize (GRIDSIZE);
for (int j = 0; j < GRIDSIZE; ++j)
lut_[i][j].resize (GRIDSIZE);
}
//lut_.resize (boost::extents[GRIDSIZE][GRIDSIZE][GRIDSIZE]);
search_radius_ = 0;
k_ = 5;
}
/** \brief Overloaded computed method from pcl::Feature.
* \param[out] output the resultant point cloud model dataset containing the estimated features
*/
void
compute (PointCloudOut &output);
protected:
/** \brief Estimate the Ensebmel of Shape Function (ESF) descriptors at a set of points given by
* <setInputCloud (),
* \param output the resultant point cloud model histogram that contains the ESF feature estimates
*/
void
computeFeature (PointCloudOut &output) override;
/** \brief ... */
int
lci (const int x1, const int y1, const int z1,
const int x2, const int y2, const int z2,
float &ratio, int &incnt, int &pointcount);
/** \brief ... */
void
computeESF (PointCloudIn &pc, std::vector<float> &hist);
/** \brief ... */
void
voxelize9 (PointCloudIn &cluster);
/** \brief ... */
void
cleanup9 (PointCloudIn &cluster);
/** \brief ... */
void
scale_points_unit_sphere (const pcl::PointCloud<PointInT> &pc, float scalefactor, Eigen::Vector4f& centroid);
private:
/** \brief ... */
std::vector<std::vector<std::vector<int> > > lut_;
/** \brief ... */
PointCloudIn local_cloud_;
};
}
#ifdef PCL_NO_PRECOMPILE
#include <pcl/features/impl/esf.hpp>
#endif
pcl::ESFEstimation::ConstPtr
shared_ptr< const ESFEstimation< PointInT, PointOutT > > ConstPtr
Definition esf.h:63
pcl::ESFEstimation::PointCloudIn
pcl::PointCloud< PointInT > PointCloudIn
Definition esf.h:73
pcl::ESFEstimation::Ptr
shared_ptr< ESFEstimation< PointInT, PointOutT > > Ptr
Definition esf.h:62
pcl::ESFEstimation::compute
void compute(PointCloudOut &output)
Overloaded computed method from pcl::Feature.
Definition esf.hpp:506
pcl::ESFEstimation::computeESF
void computeESF(PointCloudIn &pc, std::vector< float > &hist)
...
Definition esf.hpp:52
pcl::ESFEstimation::ESFEstimation
ESFEstimation()
Empty constructor.
Definition esf.h:77
pcl::ESFEstimation::PointCloudOut
typename Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
Definition esf.h:74
pcl::ESFEstimation::voxelize9
void voxelize9(PointCloudIn &cluster)
...
Definition esf.hpp:425
pcl::ESFEstimation::scale_points_unit_sphere
void scale_points_unit_sphere(const pcl::PointCloud< PointInT > &pc, float scalefactor, Eigen::Vector4f &centroid)
...
Definition esf.hpp:481
pcl::ESFEstimation::lci
int lci(const int x1, const int y1, const int z1, const int x2, const int y2, const int z2, float &ratio, int &incnt, int &pointcount)
...
Definition esf.hpp:306
pcl::ESFEstimation::cleanup9
void cleanup9(PointCloudIn &cluster)
...
Definition esf.hpp:453
pcl::ESFEstimation::computeFeature
void computeFeature(PointCloudOut &output) override
Estimate the Ensebmel of Shape Function (ESF) descriptors at a set of points given by <setInputCloud ...
Definition esf.hpp:534
pcl::Feature< PointInT, pcl::ESFSignature640 >::getClassName
const std::string & getClassName() const
Definition feature.h:244
pcl::Feature::PointCloudOut
pcl::PointCloud< PointOutT > PointCloudOut
Definition feature.h:124
pcl::Feature< PointInT, pcl::ESFSignature640 >::search_radius_
double search_radius_
Definition feature.h:237
pcl::Feature< PointInT, pcl::ESFSignature640 >::k_
int k_
Definition feature.h:240
pcl::Feature< PointInT, pcl::ESFSignature640 >::feature_name_
std::string feature_name_
Definition feature.h:220
pcl::Feature< PointInT, pcl::ESFSignature640 >::Feature
Feature()
Definition feature.h:131
pcl::Feature< PointInT, pcl::ESFSignature640 >::surface_
PointCloudInConstPtr surface_
Definition feature.h:228
pcl::PointCloudOut
pcl::PCLBase< PointInT >::input_
PointCloudConstPtr input_
Definition pcl_base.h:147
pcl::PCLBase< PointInT >::indices_
IndicesPtr indices_
Definition pcl_base.h:150
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition point_cloud.h:174
pcl
Definition convolution.h:46